apollo::planning::RTKReplayPlanner类 参考

RTKReplayPlanner is a derived class of Planner. 更多...

#include <rtk_replay_planner.h>

类 apollo::planning::RTKReplayPlanner 继承关系图:

apollo::planning::RTKReplayPlanner 的协作图:

Public 成员函数
virtual	~RTKReplayPlanner ()=default
	Destructor
std::string	Name () override
apollo::common::Status	Init (const std::shared_ptr< DependencyInjector > &injector, const std::string &config_path="") override
void	Stop () override
apollo::common::Status	Plan (const common::TrajectoryPoint &planning_init_point, Frame *frame, ADCTrajectory *ptr_computed_trajectory) override
	Override function Plan in parent class Planner.
apollo::common::Status	PlanOnReferenceLine (const common::TrajectoryPoint &planning_init_point, Frame *frame, ReferenceLineInfo *reference_line_info) override
	Override function Plan in parent class Planner.
void	ReadTrajectoryFile (const std::string &filename)
	Read the recorded trajectory file.
Public 成员函数 继承自 apollo::planning::PlannerWithReferenceLine
virtual	~PlannerWithReferenceLine ()=default
	Destructor
Public 成员函数 继承自 apollo::planning::Planner
virtual	~Planner ()=default
	Destructor
virtual void	Reset (Frame *frame)
template<typename T >
bool	LoadConfig (const std::string &custom_config_path, T *config)

额外继承的成员函数
Protected 属性 继承自 apollo::planning::Planner
std::shared_ptr< DependencyInjector >	injector_ = nullptr

详细描述

RTKReplayPlanner is a derived class of Planner.

It reads a recorded trajectory from a trajectory file and outputs proper segment of the trajectory according to vehicle position.

在文件 rtk_replay_planner.h 第 44 行定义.

构造及析构函数说明

~RTKReplayPlanner()

virtual apollo::planning::RTKReplayPlanner::~RTKReplayPlanner ( )

virtualdefault

Destructor

成员函数说明

Init()

Status apollo::planning::RTKReplayPlanner::Init ( const std::shared_ptr< DependencyInjector > &  injector, const std::string &  config_path = ""  )

overridevirtual

重载 apollo::planning::Planner .

在文件 rtk_replay_planner.cc 第 35 行定义.

                                  {
  Planner::Init(injector, config_path);
  ReadTrajectoryFile(FLAGS_rtk_trajectory_filename);
  return Status::OK();
}

Name()

std::string apollo::planning::RTKReplayPlanner::Name ( )

inlineoverridevirtual

实现了 apollo::planning::Planner.

在文件 rtk_replay_planner.h 第 51 行定义.

{ return "RTK"; }

Plan()

Status apollo::planning::RTKReplayPlanner::Plan ( const common::TrajectoryPoint &  planning_init_point, Frame *  frame, ADCTrajectory *  ptr_computed_trajectory  )

overridevirtual

Override function Plan in parent class Planner.

参数

planning_init_point	The trajectory point where planning starts.
frame	Current planning frame.

返回

OK if planning succeeds; error otherwise.

实现了 apollo::planning::Planner.

在文件 rtk_replay_planner.cc 第 43 行定义.

                                                                      {
  auto status = Status::OK();
  bool has_plan = false;
  auto it = std::find_if(
      frame->mutable_reference_line_info()->begin(),
      frame->mutable_reference_line_info()->end(),
      [](const ReferenceLineInfo& ref) { return ref.IsChangeLanePath(); });
  if (it != frame->mutable_reference_line_info()->end()) {
    status = PlanOnReferenceLine(planning_start_point, frame, &(*it));
    has_plan =
        (it->IsDrivable() && it->IsChangeLanePath() &&
         it->trajectory().GetSpatialLength() > FLAGS_change_lane_min_length);
    if (!has_plan) {
      AERROR << "Fail to plan for lane change.";
    }
  }
 
  if (!has_plan || !FLAGS_prioritize_change_lane) {
    for (auto& reference_line_info : *frame->mutable_reference_line_info()) {
      if (reference_line_info.IsChangeLanePath()) {
        continue;
      }
      status = PlanOnReferenceLine(planning_start_point, frame,
                                   &reference_line_info);
      if (status != Status::OK()) {
        AERROR << "planner failed to make a driving plan for: "
               << reference_line_info.Lanes().Id();
      }
    }
  }
  return status;
}

PlanOnReferenceLine()

Status apollo::planning::RTKReplayPlanner::PlanOnReferenceLine ( const common::TrajectoryPoint &  planning_init_point, Frame *  frame, ReferenceLineInfo *  reference_line_info  )

overridevirtual

Override function Plan in parent class Planner.

参数

planning_init_point	The trajectory point where planning starts.
frame	Current planning frame.
reference_line_info	The computed reference line.

返回

OK if planning succeeds; error otherwise.

重载 apollo::planning::PlannerWithReferenceLine .

在文件 rtk_replay_planner.cc 第 78 行定义.

                                            {
  if (complete_rtk_trajectory_.empty() || complete_rtk_trajectory_.size() < 2) {
    const std::string msg =
        "RTKReplayPlanner doesn't have a recorded trajectory or "
        "the recorded trajectory doesn't have enough valid trajectory "
        "points.";
    AERROR << msg;
    return Status(ErrorCode::PLANNING_ERROR, msg);
  }
 
  std::uint32_t matched_index =
      QueryPositionMatchedPoint(planning_init_point, complete_rtk_trajectory_);
 
  std::uint32_t forward_buffer =
      static_cast<std::uint32_t>(FLAGS_rtk_trajectory_forward);
  // end_index is excluded.
  std::uint32_t end_index = std::min<std::uint32_t>(
      static_cast<std::uint32_t>(complete_rtk_trajectory_.size()),
      matched_index + forward_buffer);
 
  //  auto* trajectory_points = trajectory_pb->mutable_trajectory_point();
  std::vector<TrajectoryPoint> trajectory_points(
      complete_rtk_trajectory_.begin() + matched_index,
      complete_rtk_trajectory_.begin() + end_index);
 
  // reset relative time
  double zero_time = complete_rtk_trajectory_[matched_index].relative_time();
  for (auto& trajectory_point : trajectory_points) {
    trajectory_point.set_relative_time(trajectory_point.relative_time() -
                                       zero_time);
  }
 
  // check if the trajectory has enough points;
  // if not, append the last points multiple times and
  // adjust their corresponding time stamps.
  while (trajectory_points.size() <
         static_cast<size_t>(FLAGS_rtk_trajectory_forward)) {
    const auto& last_point = trajectory_points.rbegin();
    auto new_point = last_point;
    new_point->set_relative_time(new_point->relative_time() +
                                 FLAGS_rtk_trajectory_resolution);
    trajectory_points.push_back(*new_point);
  }
  reference_line_info->SetTrajectory(DiscretizedTrajectory(trajectory_points));
  return Status::OK();
}

ReadTrajectoryFile()

void apollo::planning::RTKReplayPlanner::ReadTrajectoryFile

(

const std::string &

filename

)

Read the recorded trajectory file.

参数

filename

The name of the trajectory file.

在文件 rtk_replay_planner.cc 第 127 行定义.

                                                                   {
  if (!complete_rtk_trajectory_.empty()) {
    complete_rtk_trajectory_.clear();
  }
 
  std::ifstream file_in(filename.c_str());
  if (!file_in.is_open()) {
    AERROR << "RTKReplayPlanner cannot open trajectory file: " << filename;
    return;
  }
 
  std::string line;
  // skip the header line.
  getline(file_in, line);
 
  while (true) {
    getline(file_in, line);
    if (line == "") {
      break;
    }
 
    const std::vector<std::string> tokens =
        absl::StrSplit(line, absl::ByAnyChar("\t "));
    if (tokens.size() < 11) {
      AERROR << "RTKReplayPlanner parse line failed; the data dimension does "
                "not match.";
      AERROR << line;
      continue;
    }
 
    TrajectoryPoint point;
    point.mutable_path_point()->set_x(std::stod(tokens[0]));
    point.mutable_path_point()->set_y(std::stod(tokens[1]));
    point.mutable_path_point()->set_z(std::stod(tokens[2]));
 
    point.set_v(std::stod(tokens[3]));
    point.set_a(std::stod(tokens[4]));
 
    point.mutable_path_point()->set_kappa(std::stod(tokens[5]));
    point.mutable_path_point()->set_dkappa(std::stod(tokens[6]));
 
    point.set_relative_time(std::stod(tokens[7]));
 
    point.mutable_path_point()->set_theta(std::stod(tokens[8]));
 
    point.mutable_path_point()->set_s(std::stod(tokens[10]));
    complete_rtk_trajectory_.push_back(std::move(point));
  }
 
  file_in.close();
}

Stop()

void apollo::planning::RTKReplayPlanner::Stop ( )

inlineoverridevirtual

实现了 apollo::planning::Planner.

在文件 rtk_replay_planner.h 第 57 行定义.

{}

---

该类的文档由以下文件生成:

• modules/planning/planners/rtk/rtk_replay_planner.h
• modules/planning/planners/rtk/rtk_replay_planner.cc